In the paper,an ultra-wideband underground coal mine positioning system based on the improved bilateral two-way ranging algorithm is proposed.The bilateral two-way ranging algorithm is optimized to realize the simultaneous ranging of labels and multiple base stations,reduce the ranging time and speed up the locating speed.Kalman filter is used to filter the measured distance,which improves the accuracy and stability of the ranging.The experiment results show that the positioning accuracy of the positioning system can reach the level of cm.The average error in the simulated underground environment of coal mine (underground passage) is within 20 cm,and the minimum error is 11.06 cm.In the indoor environment,the average error is within 14 cm,and the minimum error is 6.49 cm.
Key words
UWB /
DS-TWR /
STM32F103C8T6 /
Kalman filter /
TOA
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